Integrated robot planning, path following, and obstacle avoidance in two and three dimensions: Wheeled robots, underwater vehicles, and multicopters

We propose an innovative, integrated solution to path planning, path following, and obstacle avoidance that is suitable both for 2D and 3D navigation. The proposed method takes as input a generic curve connecting a start and a goal position, and is able to find a corresponding path from start to goal in a maze-like environment even in the absence of global information, it guarantees convergence to the path with kinematic control, and finally avoids locally sensed obstacles without becoming trapped in deadlocks. This is achieved by computing a closed-form expression in which the control variables are a continuous function of the input curve, the robot\u2019s state, and the distance of all the locally sensed obstacles. Specifically, we introduce a novel formalism for describing the path in two and three dimensions, as well as a computationally efficient method for path deformation (based only on local sensor readings) that is able to find a path to the goal even when such path cannot be produced through continuous deformations of the original. The article provides formal proofs of all the properties above, as well as simulated results in a simulated environment with a wheeled robot, an underwater vehicle, and a multicopter

Caring robots are here to help

Introducing Transcultural Robotic Nursin

Embedding ethics in the design of culturally competent socially assistive robots

Research focusing on the development of socially assistive robots (SARs) that will promote the health, well-being and quality of life of older persons and of their caregivers has been growing in recent years. This growth has prompted a great deal of ethical reflection on the future of SARs in care, but there is an increasing awareness of the divide that often separates the settings in which ethics research and debate take place from those where technological innovation is practiced. Different frameworks have been proposed to handle the ethical dimension of technology from within the design and development process, including Value Sensitive Design (VSD). VSD has been defined as a theoretically grounded approach to the design of technology that accounts for human values in a principled and comprehensive manner throughout the design process. Inspired in part by VSD, we have developed a process geared towards embedding ethics at the core of CARESSES, an international multidisciplinary project that aims to design the first culturally competent SAR for the care of older adults. Here we describe that process, including how we utilized qualitative thematic analysis to extract key ethical concepts from relevant ethical guidelines (Alzheimer Europe's Guidelines and Position on the Ethical Use of Assistive Technologies for/by People with Dementia), and how we applied those concepts to the scenarios that describe how the CARESSES robot will interact with individuals belonging to different cultures and provide the grounding for its cultural competence. This straightforward approach highlights the ethical implications of the robot’s behavior during the design process and thus it enables researchers to identify and engage with ethical problems proactively, rather than restrict ethics to retrospective assessments. With suitable modifications, it may be usefully applied in other research projects involving SARs

Encoding guidelines for a culturally competent robot for elderly care

The functionalities and behaviours of socially assistive robots for the care of older people are usually defined by the robot’s designers with limited room for runtime adaptation to meet the preferences, expectations and needs of the assisted person. However, adaptation plays a crucial role for the robot’s acceptability and ultimately for its effectiveness. Culture, which deeply influences a person’s preferences and habits, can be viewed as an invaluable “enabling technology” to achieve such level of adaptation. This paper discusses how guidelines describing culturally competent assistive behaviours can be encoded in a robot to effectively tune its actions, gestures and words. The proposed system is implemented on a Pepper robot and tested with an Indian persona, whose habits and preferences the robot discovers and adapts to at runtime

Culture as a Sensor? A Novel Perspective on Human Activity Recognition

Human Activity Recognition (HAR) systems are devoted to identifying, amidst the sensory stream provided by one or more sensors located so that they can monitor the actions of a person, portions related to the execution of a number of a-priori defined activities of interest. Improving the performance of systems for Human Activity Recognition is a long-standing research goal: solutions include more accurate sensors, more sophisticated algorithms for the extraction and analysis of relevant information from the sensory data, and the enhancement of the sensory analysis with general or person-specific knowledge about the execution of the activities of interest. Following the latter trend, in this article we propose the association and enhancement of the sensory data analysis with cultural information, that can be seen as an estimate of person-specific information, relieved of the burden of a long/complex setup phase. We propose a culture-aware Human Activity Recognition system which associates the recognition response provided by a state-of-the-art, culture-unaware HAR system with culture-specific information about where and when activities are most likely performed in different cultures, encoded in an ontology. The merging of the cultural information with the culture-unaware responses is done by a Bayesian Network, whose probabilistic approach allows for avoiding stereotypical representations. Experiments performed offline and online, using images acquired by a mobile robot in an apartment, show that the culture-aware HAR system consistently outperforms the culture-unaware HAR system

Knowledge representation for culturally competent personal robots: requirements, design principles, implementation, and assessment

Culture, intended as the set of beliefs, values, ideas, language, norms and customs which compose a person’s life, is an essential element to know by any robot for personal assistance. Culture, intended as that person’s background, can be an invaluable source of information to drive and speed up the process of discovering and adapting to the person’s habits, preferences and needs. This article discusses the requirements posed by cultural competence on the knowledge management system of a robot. We propose a framework for cultural knowledge representation that relies on (i) a three layer ontology for storing concepts of relevance, culture specific information and statistics, person-specific information and preferences; (ii) an algorithm for the acquisition of person-specific knowledge, which uses culture specific knowledge to drive the search; (iii) a Bayesian Network for speeding up the adaptation to the person by propagating the effects of acquiring one specific information onto interconnected concepts. We have conducted a preliminary evaluation of the framework involving 159 Italian and German volunteers and considering 122 among habits, attitudes and social norms

Designing an Experimental and a Reference Robot to Test and Evaluate the Impact of Cultural Competence in Socially Assistive Robotics

The article focusses on the work performed in preparation for an experimental trial aimed at evaluating the impact of a culturally competent robot for care home assistance. Indeed, it has been estabilished that the user's cultural identity plays an important role during the interaction with a robotic system and cultural competence may be one of the key elements for increasing capabilities of socially assistive robots. Specifically, the paper describes part of the work carried out for the definition and implementation of two different robotic systems for the care of older adults: a culturally competent robot, that shows its awareness of the user's cultural identity, and a reference robot, non culturally competent, but with the same functionalities of the former. The design of both robots is here described in detail, together with the key elements that make a socially assistive robot culturally competent, which should be absent in the non-culturally competent counterpart. Examples of the experimental phase of the CARESSES project, with a fictional user are reported, giving a hint of the validness of the proposed approach

Paving the way for culturally competent robots: a position paper

Cultural competence is a well known requirement for an effective healthcare, widely investigated in the nursing literature. We claim that personal assistive robots should likewise be culturally competent, aware of general cultural characteristics and of the different forms they take indifferent individuals, and sensitive to cultural differences while perceiving, reasoning, and acting. Drawing inspiration from existing guidelines for culturally competent healthcare and the state-of-the-art in culturally competent robotics, we identify the key robot capabilities which enable culturally competent behaviours and discuss methodologies for their development and evaluation

Protein-Binding Microarray Analysis of Tumor Suppressor AP2α Target Gene Specificity

Cheap and massively parallel methods to assess the DNA-binding specificity of transcription factors are actively sought, given their prominent regulatory role in cellular processes and diseases. Here we evaluated the use of protein-binding microarrays (PBM) to probe the association of the tumor suppressor AP2α with 6000 human genomic DNA regulatory sequences. We show that the PBM provides accurate relative binding affinities when compared to quantitative surface plasmon resonance assays. A PBM-based study of human healthy and breast tumor tissue extracts allowed the identification of previously unknown AP2α target genes and it revealed genes whose direct or indirect interactions with AP2α are affected in the diseased tissues. AP2α binding and regulation was confirmed experimentally in human carcinoma cells for novel target genes involved in tumor progression and resistance to chemotherapeutics, providing a molecular interpretation of AP2α role in cancer chemoresistance. Overall, we conclude that this approach provides quantitative and accurate assays of the specificity and activity of tumor suppressor and oncogenic proteins in clinical samples, interfacing genomic and proteomic assays

A Minimalist Feedback Control for Path Tracking in Cartesian Space

The article proposes a new feedback control model that allows to track a generic curve in the Cartesian Space expressed through its implicit equation, and has minimal requirements in terms of measurement and computation capabilities. The model measures only the distance between the vehicle and the path, whereas it ignores the vehicle's orientation. In spite of this, it allows to regulate to zero both the distance to the path and the difference between the vehicle's orientation and the tangent to the curve, and it is asymptotically stable